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motorUtil fixes.

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This commit is contained in:
Ron Sluiter
2007-05-24 19:01:17 +00:00
parent 8e369ecc8e
commit 997da29273
1 changed files with 30 additions and 17 deletions
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README
+30 -17
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@@ -44,7 +44,7 @@ Configuration
The following files can be edited to tailor this distribution to site specific
needs. See individual files for instructions.
- <motor>/configure/RELEASE: Define location of external products.
If only VMEbus based motor controllers (e.g., OMS, Highland
V544) and/or Soft Channel device support is used, then only
EPICS_BASE is required.
@@ -53,7 +53,7 @@ needs. See individual files for instructions.
the following support modules are required;
- EPICS base R3-14-7
- ASYN R4-2
If any example applications (motorExApp) are to be built, then
TEMPLATE_TOP and MSITOP must be defined.
@@ -64,7 +64,7 @@ needs. See individual files for instructions.
#DIRS := $(DIRS) $(filter-out $(DIRS), iocBoot)
- ./motorExApp/Makefile: Define which, if any, example applications are
to be built.
Known Problems
@@ -133,7 +133,7 @@ Modification Log from R6-2 to R6-3
check in motorRecord.cc's init_record(). This resulted in motor
positions not being initialized from save/restore at boot-up if RDBD
was not included in a save/restore save set.
File modified: the enforceMinRetryDeadband() call in init_record() was
moved to before the call to device support init_record.
@@ -141,6 +141,19 @@ Modification Log from R6-2 to R6-3
Directory added: motorApp/SmartMotorSrc
4) A bug was introduced into the shell command "motorUtilInit()" affecting
these versions of the motor distribution; R6-2, R6-2-1 and R6-2-2. This
bug resulted in the erroneous error message; "motorUtilInit: Prefix
%c: has more than 53 characters. Exiting".
File modified: motorApp/MotorSrc/motorUtil.cc
5) The "alldone" PV in motorUtil.db defaulted to the "moving" state between
"iocInit" and "motorUtilInit", giving the false indication that motors
were moving during boot-up. The "alldone" PV now defaults to the
"done" state.
File modified: motorApp/Db/motorUtil.db
Modification Log from R6-1 to R6-2
@@ -150,7 +163,7 @@ Modification Log from R6-1 to R6-2
issuing the correct command when it queried for the number of axes at
boot up; correct command (XSTAT?), incorrect command (STAT?). This
resulted in a "PM500 system error" message on the 1st axis.
File modified: NewportSrc/drvPM500.cc
2) A bug was introduced with R6-0. The OMS device support was overwriting PID
@@ -201,16 +214,16 @@ Modification Log from R6-0 to R6-1
SocketClose() at exit added but disabled pending further testing.
File modified: NewFocusSrc/drvPMNC87xx.cc
3) Physik Instrumente (PI) GmbH & Co. C-862; added 17ms "status update delay"
to prevent dropped communication characters in controller; i.e.
erroneous command error responses.
File modified: PiSrc/drvPIC862.cc
4) All motorStatus[xx].adl displays modified to show motor position with text
rather than with bar graphs.
Files modified: motorApp/op/adl/motorStatus[xx].adl
5) Joe Sullivan added support for the Physik Instrumente (PI) GmbH & Co. model
@@ -229,7 +242,7 @@ Modification Log from R5-9 to R6-0
1) The OMS MAXv polling rate, which set is from the MAXvSetup() st.cmd command,
is allowed to be as high as the OS clock rate; i.e.,
(1/epicsThreadSleepQuantum()).
File modified: drvMAXv.cc - changed polling rate error check to,
1 <= polling rate <= (1/epicsThreadSleepQuantum())
@@ -247,7 +260,7 @@ Modification Log from R5-9 to R6-0
manipulate the velocity values are unaware of this restriction and
create a torrent of these messages. With this release the OMS device
will only output this warning message once.
File modified: Added message latch to oms_build_trans() in devOmsCom.cc
4) Added a work around for OMS PC68/78 firmware error. PC68/78 controllers
@@ -544,7 +557,7 @@ Modification Log from R5-6 to R5-7
condition correctly. This resulted in the motor record not setting
either of the limit error indicator fields (HLS/LLS) and becoming stuck
in the "Moving" state.
File modified: do_work() in motorRecord.cc; complement CDIR when
jogging if DIR="Neg".
@@ -1199,7 +1212,7 @@ Modification Log from R4-4 to R4-5
in terms of motor steps.
- RES always equal to MRES. RES preserved for backward compatibility
only. All instances of RES have been replaced with MRES.
Files modified: - MotorSrc/motor.h
- MotorSrc/motorRecord.c
- MotorSrc/motordevCom.c
@@ -1267,7 +1280,7 @@ Modification Log from R4-4 to R4-5
- MotorSrc/motorRecord.c
- MotorSrc/motordrvCom.c
- All drivers; i.e., */drv*.c
17) Post all fields when recGblResetAlarms() returns an alarm.
@@ -1339,7 +1352,7 @@ Modification Log from R4-3 to R4-4
code generated.
Files modified: motorRecord.c - mmap_field and nmap_field unions.
drvOms58.h - all control/status registers.
Modification Log from R4-2 to R4-3
@@ -1730,7 +1743,7 @@ Modification Log from V3-5 to R4-0
finite state machine was strictly enforced on jog request, jogging,
stopping a jog and the backlash after jogging. Jog processing is
isolated from the JOG[F/R] fields. Specifically,
- Added two new state indicators to MIP; MIP_JOG_REQ and MIP_JOG_STOP.
The jog states now consist of the following; Start (mip=0),
Request, Jogging, Stopping and Backlash.
@@ -1800,7 +1813,7 @@ Modification Log from V3-5 to R4-0
maximum (i.e., VMAX/SMAX) value entered is always valid. For example,
if the minimum is entered and it exceeds the maximum, then the maximum
is set to the new minimum value.
Files modified: motorRecord.dbd, motorRecord.c
21) With MM4000 device support, a tweak request (TWF/TWR) occurring during the
@@ -1853,7 +1866,7 @@ Modification Log from V3-5 to R4-0
processing the number of significant decimal points correctly when the
controller used scientific notation for the motor resolution.
Files modified: motor_init() in drvMM400.c
29) Through an odd set of circumstances the Oms58 driver was not performing
status updates on PowerPC (PPC) platforms. All users of the OMS VME58
controller on a PPC platform must upgrade to Motor Record version 4.0